The Design And Realization Of Industrial Robot Palletizing Function

Palletizing is an important part of industrial production and transportation.With the increase of production automation,the traditional manual palletizing can not adapt to the production requirement.The development of industrial robotic palletizing with high automation,speed and flexibility is of great significance.The overall scheme of robot palletizing function is designed by studying the palletizing work in production and analyzing the requirements of industrial production for palletizing type,path planning and palletizing conditions.Combined with the planning of the palletizing path,the coordination of the work position in the path and in the stack is realized by setting the approach point and the return point in the palletizing path.In order to meet the requirements of the work palletizing method,two kinds of work palletizing patterns,which are matrix mode and full point mode,are designed to achieve the require of most palletizing applications in production.The methods of calculating the work order in different palletizing type and the relative position between the work center point and reference work in the robot coordinate are proposed to realize the automatic calculation of the work position during palletizing.The palletizing start,finish,motion and register instructions are designed to achieve the automatic operation of the palletizing program.The palletizing variables,which include work size,palletizing type data,essential positions data and so on,are designed into palletizing parameters.These parameters are added to the human machine interface to realize the configuration of different palletizing conditions.Two kinds of interference detection algorithms are proposed to improve the safety during the robot palletizing.These two algorithms are the work interference detection algorithm,which is based on the actual position,and the dynamic collision detection algorithm,which is based on the robot pulse speed in each interpolation cycle.A robot experimental platform which is simulated to the industrial palletizing production is set to verify the palletizing function.Test cases are designed to test the realization of various palletizing function parts,including the configuration of palletizing,the calculation of work,the collision detection algorithms and so on.At last,the palletizing function test is executed to observe the realization of various palletizing types.The result of the experiment shows that the parts of palletizing function are fine.The realization of function meets the expected requirements.